Function lupnt::Skew

• Defined in File math_utils.cc

Function Documentation

Mat3 lupnt::Skew(const Vec3 &x)

Skew symmetric matrix from a vector.

Build the 3x3 skew-symmetric (“cross-product”) matrix [x]_x of a vector x, such that [x]_x * v == x.cross(v) for any vector v.

Exposed to Python via lupnt.skew for use in attitude-dynamics / angular-velocity computations (e.g. forming omega x r as a matrix-vector product).

Parameters:

• x – Input vector

• x – Input 3-vector

Returns:

Skew symmetric matrix

Returns:

3x3 skew-symmetric matrix of x